A few later works introduced the usage of view-based projections to reduce the run-time. Front view or bird-eye view projections produced good accuracy in 3D object detection as seen in MV3D [1]}. Then, Spherical [2]} Projections were proposed to score well in terms of run-time and accuracy. Among all of the approaches mentioned above, there is always a trade-off between coming up with acceptable accuracy and running in real-time. Our contribution lies in:
